feat:完善了自动标定车间的环境
This commit is contained in:
li-shihao-code
@@ -1,5 +1,5 @@
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cmake_minimum_required(VERSION 3.8)
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project(agv_calib_brain)
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project(agv_calib_core)
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# 1. 寻找 ROS 2 依赖
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find_package(ament_cmake REQUIRED)
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@@ -46,4 +46,4 @@ ament_target_dependencies(brain_node rclcpp)
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target_link_libraries(brain_node agv_grpc_proto_lib)
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install(TARGETS brain_node DESTINATION lib/${PROJECT_NAME})
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ament_package()
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ament_package()
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@@ -1,7 +1,7 @@
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>agv_calib_brain</name>
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<name>agv_calib_core</name>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<maintainer email="2469171725@qq.com">nvidia</maintainer>
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@@ -0,0 +1,91 @@
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cmake_minimum_required(VERSION 3.8)
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project(calibration_sim)
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# 1. 基础编译设置
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# 2. 寻找依赖库
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(sensor_msgs REQUIRED) # 用于 PointCloud2
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find_package(geometry_msgs REQUIRED) # 用于坐标变换
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find_package(tf2_ros REQUIRED) # 坐标变换工具
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find_package(tf2_geometry_msgs REQUIRED)
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find_package(pcl_conversions REQUIRED)# ROS <-> PCL 转换桥梁
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# 寻找系统级安装的 PCL 库 (非 ROS 包)
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find_package(PCL REQUIRED COMPONENTS common io visualization filters registration segmentation)
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# 3. 定义可执行文件 (你的核心 C++ 节点)
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# 假设你将来会写一个 lidar_fusion_node.cpp
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#add_executable(lidar_fusion_node src/lidar_fusion_node.cpp)
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# 4. 配置头文件路径
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#target_include_directories(lidar_fusion_node PUBLIC
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# $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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# $<INSTALL_INTERFACE:include>
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# ${PCL_INCLUDE_DIRS} # 必须包含 PCL 的头文件
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#)
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# 5. 链接库文件
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# 链接 ROS 相关的依赖
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#ament_target_dependencies(lidar_fusion_node
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# rclcpp
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# std_msgs
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#sensor_msgs
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#geometry_msgs
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# tf2_ros
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# tf2_geometry_msgs
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# pcl_conversions
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#)
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# 链接 PCL 相关的依赖 (PCL 不是 ament 包，需要单独链接)
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#target_link_libraries(lidar_fusion_node
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# ${PCL_LIBRARIES}
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#)
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# 6. 安装规则 (至关重要!)
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# 安装可执行文件 (C++ 节点)
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#install(TARGETS
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# lidar_fusion_node
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# DESTINATION lib/${PROJECT_NAME}
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#)
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# 安装脚本文件 (如果你有 Python 节点)
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# install(PROGRAMS
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# scripts/my_python_script.py
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# DESTINATION lib/${PROJECT_NAME}
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# )
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# 安装资源目录 (Launch, URDF, RViz, Worlds)
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# 如果没有这步，你的 ros2 launch 命令会找不到文件
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install(DIRECTORY
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launch
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urdf
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rviz
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worlds
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config
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DESTINATION share/${PROJECT_NAME}
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)
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# 7. 导出依赖与生成包
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips the linter which checks for eccentric indentation
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# comment the line when it conforms to defaults
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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@@ -0,0 +1,73 @@
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription, ExecuteProcess
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.actions import Node
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import xacro
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def generate_launch_description():
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pkg_name = 'calibration_sim'
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# 1. 解析 URDF
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infra_xacro = os.path.join(get_package_share_directory(pkg_name), 'urdf', 'workshop_sensors.xacro')
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infra_doc = xacro.process_file(infra_xacro)
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infra_xml = infra_doc.toxml()
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agv_xacro = os.path.join(get_package_share_directory(pkg_name), 'urdf', 'agv.xacro')
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agv_doc = xacro.process_file(agv_xacro)
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agv_xml = agv_doc.toxml()
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world_path = os.path.join(
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get_package_share_directory('calibration_sim'),
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'worlds',
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'calibration_room.world'
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)
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# 2. 启动 Gazebo
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gazebo = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([os.path.join(
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get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]),
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launch_arguments={'world': world_path}.items(), # 【关键】指定 world 参数
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)
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# 3. 生成基础设施 (4个雷达)
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spawn_infra = Node(
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package='gazebo_ros', executable='spawn_entity.py',
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arguments=['-topic', 'robot_description_infra', '-entity', 'workshop_sensors'],
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output='screen'
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)
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# 发布基础设施的 State Publisher (为了TF树)
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infra_state_publisher = Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='infra_state_publisher',
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parameters=[{'robot_description': infra_xml}],
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remappings=[('robot_description', 'robot_description_infra')]
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)
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# 4. 生成 AGV
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spawn_agv = Node(
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package='gazebo_ros', executable='spawn_entity.py',
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arguments=['-topic', 'robot_description_agv', '-entity', 'my_agv', '-z', '0.1'],
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output='screen'
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)
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# 发布 AGV 的 State Publisher
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agv_state_publisher = Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='agv_state_publisher',
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parameters=[{'robot_description': agv_xml}],
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remappings=[('robot_description', 'robot_description_agv')]
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)
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return LaunchDescription([
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gazebo,
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infra_state_publisher,
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spawn_infra,
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agv_state_publisher,
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spawn_agv,
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# 这里还可以加上 RViz 的节点
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])
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@@ -0,0 +1,26 @@
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>calibration_sim</name>
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<version>0.0.0</version>
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<description>Simulated environment for workshop calibration project</description>
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<maintainer email="user@todo.todo">User</maintainer>
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<license>TODO: License declaration</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>rclcpp</depend>
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<depend>std_msgs</depend>
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<depend>sensor_msgs</depend>
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<depend>geometry_msgs</depend>
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<depend>tf2_ros</depend>
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<depend>tf2_geometry_msgs</depend>
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<depend>pcl_conversions</depend>
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<depend>gazebo_ros</depend> <test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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@@ -0,0 +1,72 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="my_agv">
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<link name="base_footprint"/>
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<joint name="base_joint" type="fixed">
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<parent link="base_footprint"/>
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<child link="base_link"/>
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<origin xyz="0 0 0.1" rpy="0 0 0"/>
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</joint>
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<link name="base_link">
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<visual>
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<geometry><box size="0.5 0.3 0.1"/></geometry>
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<material name="blue">
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<color rgba="0 0 1 1"/>
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</material>
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</visual>
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<collision>
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<geometry><box size="0.5 0.3 0.1"/></geometry>
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</collision>
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<inertial>
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<mass value="5.0"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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</link>
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<xacro:macro name="wheel" params="prefix y_offset">
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<link name="${prefix}_wheel">
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<visual>
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<geometry><cylinder radius="0.1" length="0.05"/></geometry>
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<material name="black">
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<color rgba="0 0 0 1"/>
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</material>
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</visual>
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<collision>
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<geometry><cylinder radius="0.1" length="0.05"/></geometry>
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</collision>
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<inertial>
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<mass value="1.0"/>
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<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
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</inertial>
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</link>
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<joint name="${prefix}_wheel_joint" type="continuous">
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<parent link="base_link"/>
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<child link="${prefix}_wheel"/>
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<origin xyz="0 ${y_offset} -0.05" rpy="-1.57 0 0"/>
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<axis xyz="0 0 1"/>
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</joint>
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</xacro:macro>
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<xacro:wheel prefix="left" y_offset="0.2"/>
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<xacro:wheel prefix="right" y_offset="-0.2"/>
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<gazebo>
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<plugin name="diff_drive" filename="libgazebo_ros_diff_drive.so">
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<ros>
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<namespace>/</namespace>
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</ros>
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<left_joint>left_wheel_joint</left_joint>
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<right_joint>right_wheel_joint</right_joint>
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<wheel_separation>0.4</wheel_separation>
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<wheel_diameter>0.2</wheel_diameter>
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<publish_odom>true</publish_odom>
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<publish_odom_tf>true</publish_odom_tf>
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<odometry_frame>odom</odometry_frame>
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<robot_base_frame>base_footprint</robot_base_frame>
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</plugin>
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</gazebo>
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</robot>
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@@ -0,0 +1,32 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="calibration_board">
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<link name="board_link">
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<visual>
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<geometry>
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<box size="1.0 1.0 0.02"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<box size="1.0 1.0 0.02"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1.0"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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</link>
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<gazebo reference="board_link">
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<material>Gazebo/Checkerboard</material>
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</gazebo>
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<gazebo>
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<static>true</static>
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</gazebo>
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</robot>
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@@ -0,0 +1,87 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="workshop_infrastructure">
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<gazebo> <static>true</static> </gazebo>
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<link name="workshop_anchor">
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<visual> <geometry><sphere radius="0.01"/></geometry> </visual>
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<inertial>
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<mass value="100"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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</link>
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<material name="lidar_black"> <color rgba="0.1 0.1 0.1 1"/> </material>
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<xacro:macro name="solid_state_lidar" params="name x y z yaw">
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<joint name="${name}_joint" type="fixed">
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<parent link="workshop_anchor"/>
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<child link="${name}_link"/>
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<origin xyz="${x} ${y} ${z}" rpy="0 0.35 ${yaw}"/>
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</joint>
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<link name="${name}_link">
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<inertial>
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<mass value="0.5"/> <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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</inertial>
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<visual>
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<geometry><box size="0.114 0.136 0.049"/></geometry>
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<material name="lidar_black"/>
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</visual>
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<collision>
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<geometry><box size="0.114 0.136 0.049"/></geometry>
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</collision>
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</link>
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<gazebo reference="${name}_link">
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<material>Gazebo/FlatBlack</material>
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<sensor type="gpu_ray" name="${name}_sensor">
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<pose>0 0 0 0 0 0</pose>
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<visualize>false</visualize>
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<update_rate>10</update_rate> <ray>
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<scan>
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<horizontal>
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<samples>600</samples>
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<resolution>1</resolution>
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<min_angle>-0.7854</min_angle>
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<max_angle>0.7854</max_angle>
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</horizontal>
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<vertical>
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<samples>128</samples>
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<resolution>1</resolution>
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<min_angle>-0.2181</min_angle>
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<max_angle>0.2251</max_angle>
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</vertical>
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</scan>
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<range>
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<min>0.5</min> <max>210.0</max>
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</range>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.03</stddev>
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</noise>
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</ray>
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<plugin name="${name}_controller" filename="libgazebo_ros_ray_sensor.so">
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<ros>
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<namespace>/infrastructure</namespace>
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<remapping>~/out:=${name}/points</remapping>
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</ros>
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<output_type>sensor_msgs/PointCloud2</output_type>
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<frame_name>${name}_link</frame_name>
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</plugin>
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</sensor>
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</gazebo>
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</xacro:macro>
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<xacro:solid_state_lidar name="lidar_fl" x="4.8" y="4.8" z="2.4" yaw="-2.356"/>
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<xacro:solid_state_lidar name="lidar_fr" x="4.8" y="-4.8" z="2.4" yaw="2.356"/>
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<xacro:solid_state_lidar name="lidar_bl" x="-4.8" y="4.8" z="2.4" yaw="-0.785"/>
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<xacro:solid_state_lidar name="lidar_br" x="-4.8" y="-4.8" z="2.4" yaw="0.785"/>
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</robot>
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@@ -0,0 +1,101 @@
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<?xml version="1.0" ?>
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<sdf version="1.6">
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<world name="calibration_world">
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<scene>
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<ambient>0.6 0.6 0.6 1.0</ambient>
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<background>0.7 0.7 0.7 1.0</background>
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<shadows>true</shadows>
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</scene>
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<include><uri>model://ground_plane</uri></include>
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<model name="calibration_room_structure">
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<static>true</static>
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<pose>0 0 0 0 0 0</pose>
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<link name="wall_north"><pose>0 5 1.25 0 0 0</pose><collision name="c"><geometry><box><size>10.2 0.2 2.5</size></box></geometry></collision><visual name="v"><geometry><box><size>10.2 0.2 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script></material></visual></link>
|
||||
<link name="wall_south"><pose>0 -5 1.25 0 0 0</pose><collision name="c"><geometry><box><size>10.2 0.2 2.5</size></box></geometry></collision><visual name="v"><geometry><box><size>10.2 0.2 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script></material></visual></link>
|
||||
<link name="wall_east"><pose>5 0 1.25 0 0 0</pose><collision name="c"><geometry><box><size>0.2 10.0 2.5</size></box></geometry></collision><visual name="v"><geometry><box><size>0.2 10.0 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script></material></visual></link>
|
||||
<link name="wall_west"><pose>-5 0 1.25 0 0 0</pose><collision name="c"><geometry><box><size>0.2 10.0 2.5</size></box></geometry></collision><visual name="v"><geometry><box><size>0.2 10.0 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script></material></visual></link>
|
||||
</model>
|
||||
|
||||
<include><uri>model://checkerboard_plane</uri><name>board_n1</name><pose>-3.75 4.89 1.25 1.57 0 0</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
<include><uri>model://checkerboard_plane</uri><name>board_n2</name><pose>-1.25 4.89 1.25 1.57 0 0</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
<include><uri>model://checkerboard_plane</uri><name>board_n3</name><pose> 1.25 4.89 1.25 1.57 0 0</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
<include><uri>model://checkerboard_plane</uri><name>board_n4</name><pose> 3.75 4.89 1.25 1.57 0 0</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
|
||||
<include><uri>model://checkerboard_plane</uri><name>board_s1</name><pose>-3.75 -4.89 1.25 1.57 0 3.14159</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
<include><uri>model://checkerboard_plane</uri><name>board_s2</name><pose>-1.25 -4.89 1.25 1.57 0 3.14159</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
<include><uri>model://checkerboard_plane</uri><name>board_s3</name><pose> 1.25 -4.89 1.25 1.57 0 3.14159</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
<include><uri>model://checkerboard_plane</uri><name>board_s4</name><pose> 3.75 -4.89 1.25 1.57 0 3.14159</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
|
||||
<include><uri>model://checkerboard_plane</uri><name>board_e1</name><pose>4.89 -3.75 1.25 1.57 0 -1.57</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
<include><uri>model://checkerboard_plane</uri><name>board_e2</name><pose>4.89 -1.25 1.25 1.57 0 -1.57</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
<include><uri>model://checkerboard_plane</uri><name>board_e3</name><pose>4.89 1.25 1.25 1.57 0 -1.57</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
<include><uri>model://checkerboard_plane</uri><name>board_e4</name><pose>4.89 3.75 1.25 1.57 0 -1.57</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
|
||||
<include><uri>model://checkerboard_plane</uri><name>board_w1</name><pose>-4.89 -3.75 1.25 1.57 0 1.57</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
<include><uri>model://checkerboard_plane</uri><name>board_w2</name><pose>-4.89 -1.25 1.25 1.57 0 1.57</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
<include><uri>model://checkerboard_plane</uri><name>board_w3</name><pose>-4.89 1.25 1.25 1.57 0 1.57</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
<include><uri>model://checkerboard_plane</uri><name>board_w4</name><pose>-4.89 3.75 1.25 1.57 0 1.57</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
|
||||
|
||||
<model name="ceiling_lights_4x4">
|
||||
<static>true</static>
|
||||
<pose>0 0 2.5 0 0 0</pose>
|
||||
<link name="link">
|
||||
<visual name="v1_1"><cast_shadows>0</cast_shadows><pose>-4.5 -4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
|
||||
<visual name="v1_2"><cast_shadows>0</cast_shadows><pose>-1.5 -4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
|
||||
<visual name="v1_3"><cast_shadows>0</cast_shadows><pose> 1.5 -4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
|
||||
<visual name="v1_4"><cast_shadows>0</cast_shadows><pose> 4.5 -4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
|
||||
<visual name="v2_1"><cast_shadows>0</cast_shadows><pose>-4.5 -1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
|
||||
<visual name="v2_2"><cast_shadows>0</cast_shadows><pose>-1.5 -1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
|
||||
<visual name="v2_3"><cast_shadows>0</cast_shadows><pose> 1.5 -1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
|
||||
<visual name="v2_4"><cast_shadows>0</cast_shadows><pose> 4.5 -1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
|
||||
<visual name="v3_1"><cast_shadows>0</cast_shadows><pose>-4.5 1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
|
||||
<visual name="v3_2"><cast_shadows>0</cast_shadows><pose>-1.5 1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
|
||||
<visual name="v3_3"><cast_shadows>0</cast_shadows><pose> 1.5 1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
|
||||
<visual name="v3_4"><cast_shadows>0</cast_shadows><pose> 4.5 1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
|
||||
<visual name="v4_1"><cast_shadows>0</cast_shadows><pose>-4.5 4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
|
||||
<visual name="v4_2"><cast_shadows>0</cast_shadows><pose>-1.5 4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
|
||||
<visual name="v4_3"><cast_shadows>0</cast_shadows><pose> 1.5 4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
|
||||
<visual name="v4_4"><cast_shadows>0</cast_shadows><pose> 4.5 4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
|
||||
</link>
|
||||
</model>
|
||||
|
||||
<light name='l1_1' type='point'><pose>-4.5 -4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
|
||||
<light name='l1_2' type='point'><pose>-1.5 -4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
|
||||
<light name='l1_3' type='point'><pose> 1.5 -4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
|
||||
<light name='l1_4' type='point'><pose> 4.5 -4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
|
||||
<light name='l2_1' type='point'><pose>-4.5 -1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
|
||||
<light name='l2_2' type='point'><pose>-1.5 -1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
|
||||
<light name='l2_3' type='point'><pose> 1.5 -1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
|
||||
<light name='l2_4' type='point'><pose> 4.5 -1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
|
||||
<light name='l3_1' type='point'><pose>-4.5 1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
|
||||
<light name='l3_2' type='point'><pose>-1.5 1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
|
||||
<light name='l3_3' type='point'><pose> 1.5 1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
|
||||
<light name='l3_4' type='point'><pose> 4.5 1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
|
||||
<light name='l4_1' type='point'><pose>-4.5 4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
|
||||
<light name='l4_2' type='point'><pose>-1.5 4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
|
||||
<light name='l4_3' type='point'><pose> 1.5 4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
|
||||
<light name='l4_4' type='point'><pose> 4.5 4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
|
||||
|
||||
|
||||
<include><uri>model://checkerboard_plane</uri><name>floor_n1</name><pose>-3.75 3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
<include><uri>model://checkerboard_plane</uri><name>floor_n2</name><pose>-1.25 3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
<include><uri>model://checkerboard_plane</uri><name>floor_n3</name><pose> 1.25 3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
<include><uri>model://checkerboard_plane</uri><name>floor_n4</name><pose> 3.75 3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
|
||||
<include><uri>model://checkerboard_plane</uri><name>floor_s1</name><pose>-3.75 -3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
<include><uri>model://checkerboard_plane</uri><name>floor_s2</name><pose>-1.25 -3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
<include><uri>model://checkerboard_plane</uri><name>floor_s3</name><pose> 1.25 -3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
<include><uri>model://checkerboard_plane</uri><name>floor_s4</name><pose> 3.75 -3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
|
||||
<include><uri>model://checkerboard_plane</uri><name>floor_e1</name><pose>3.75 -1.25 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
<include><uri>model://checkerboard_plane</uri><name>floor_e2</name><pose>3.75 1.25 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
|
||||
<include><uri>model://checkerboard_plane</uri><name>floor_w1</name><pose>-3.75 -1.25 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
<include><uri>model://checkerboard_plane</uri><name>floor_w2</name><pose>-3.75 1.25 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
|
||||
|
||||
</world>
|
||||
</sdf>
|
||||
Reference in New Issue
Block a user